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Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults

Yajie Ma 1 Vincent Cocquempot 1 Maan El Badaoui Ei Najjar 1 Andrey Polyakov 2 Gang Zheng 2, 3
1 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper, a fault-tolerant control scheme for two physically linked two wheel drive (2WD) mobile robots with multiple and simultaneous actuator faults is proposed. The kinematic and dynamic models are first presented. A kinematic control law is designed, based on which, a dynamic control law is investigated. By applying the proposed dynamic control signal, the desired system stability and tracking properties are ensured. Simulation results are finally presented to verify the effectiveness of the developed fault-tolerant control scheme.
Keywords : Actuator fault fault-tolerant control mobile robot physical link two wheel drive
Document type :
Conference papers
Complete list of metadatas
https://hal.inria.fr/hal-01660111
Contributor : Gang Zheng <>
Submitted on : Sunday, December 10, 2017 - 12:14:20 AM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM

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  • HAL Id : hal-01660111, version 1

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CNRS | INRIA | CRISTAL-DICOT | CRISTAL-SYNER | CRISTAL | UNIV-LILLE | CRISTAL-DEFROST

Citation

Yajie Ma, Vincent Cocquempot, Maan El Badaoui Ei Najjar, Andrey Polyakov, Gang Zheng. Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01660111⟩

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